I'll assume you have hydraulic linkages and the tie rods disconnected. Then, according to the factory repair manual:
Support the engine from the top, then drop the subframe - 14 bolts, 3 nuts.
Then remove the heat shield, one bolt, one nut. 48 lb-in.
On each side, first remove a tube clamp bolt (48 lb-in), then remove one nut, one bolt (both 52 lb-ft), bracket and grommet.
Then comes the fun part. Once everything is off,
slide the rack to passenger side, then to driver side and pull it out.
I haven't tried it myself, so all I can say is good luck.